Method for carrying out local linear interpolation and prediction based on real-time positioning trajectory data

Abstract

The invention provides a method for carrying out local linear interpolation and prediction based on real-time positioning trajectory data. The method comprises the following steps: 1, reading a pieceof real-time trajectory calculation data; 2, if the solution in the step 1 fails or interpolation prediction needs to be carried out and the number of historical solution data is more than 5, turningto the step 3, otherwise, turning to the step 8; 3, taking out six pieces of latest solved historical track solving data; 4, resolving data of the six historical tracks in the step 3, resolving a linear coefficient, and obtaining a coefficient matrix; 5, carrying out matrix multiplication by using the last five data of the six pieces of data extracted in the step 3 and the coefficient matrix obtained in the step 4 to predict the next coordinate; 6, optimizing the prediction data and the historical trajectory calculation data; 7, adding newly predicted data into a historical trajectory calculation data set after filtering; and 8, carrying out positioning data calculation of the next round, and turning to the step 1.

Description

technical field [0001] The invention relates to a method for processing related data of indoor positioning, in particular to a method for performing local linear interpolation and prediction based on real-time positioning track data. Background technique [0002] With the continuous development of the Internet of Things and mobile Internet technology, more and more services and applications rely on the user's location information, how to accurately locate the device is becoming a hot spot in current research. In the outdoor environment, the Global Positioning System (GPS) has been widely used due to its advantages of high precision, strong stability and low cost. However, in the indoor environment, because satellite signals cannot penetrate buildings, the use of GPS has been severely restricted. Moreover, compared with the outdoor environment, the indoor environment is more significantly affected by multipath effects and non-line-of-sight transmission (NLOS), and there are ...

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Problems solved by technology

[0004] Purpose of the invention: The performance of existing classic positioning algorithms based on TOF and TDOA data is significantly reduced due to various interferences in the real environment, especially the problem of packet loss and solution failure during real-time data transmission. Therefore, an efficient and correct positioning algorithm is needed. In the calculation process, if the current calculation fails or there are missing points, based on the prior knowledge of time series information and trajectory coordinates, under the premise of ensuring real-time and high efficiency, interpolation supplements the lost points Or predict the following trajectory points to enhance the smoothness and continuity of the trajectory

[0007] Step 2. If the calculation fails in step 1 due to problems such as data anomalies, such as packet loss events during data transmission or the correct analytical solution cannot be obtained during the calculation process, or interpolation prediction is currently required and the historical calculation data is not correct. If less than 6, go to step 3, otherwise go to step 8;

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